diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index 3ffe818..c89c797 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -6,17 +6,17 @@
 #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
 // M4
-#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左后
-#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后
+#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左后
+#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后
 // M1
-#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
-#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
+#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
+#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
 // M3
-#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
-#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
+#define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
+#define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
 // M2
-#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
-#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
+#define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
+#define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
 
 int32_t pwm_duty_ls_g;
 int32_t pwm_duty_rs_g;
@@ -45,6 +45,8 @@ inline static float clip_f32(float x, float low, float up)
 
 void by_pwm_init(void)
 {
+    gpio_init(D4, GPO, 1, GPO_PUSH_PULL);
+    gpio_init(C8, GPO, 1, GPO_PUSH_PULL);
     pwm_init(FAN_LL_PWM_PIN, 50, 500);
     pwm_init(FAN_RL_PWM_PIN, 50, 500);
 
@@ -59,13 +61,13 @@ void by_pwm_init(void)
     pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
     while (1);
 #elif FIX_DRIVE == 2
-    pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
     pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
-    pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
     pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
-    pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_LB_PWM_A_PIN, 20000, 0);
     pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
-    pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
+    pwm_init(FAN_RB_PWM_A_PIN, 20000, 1000);
     pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
     while (1);
 #endif
diff --git a/app/isr.c b/app/isr.c
index 58315ec..17129ed 100644
--- a/app/isr.c
+++ b/app/isr.c
@@ -130,14 +130,15 @@ void UART7_IRQHandler(void)
 {
     if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
         wireless_module_uart_handler();
+        uart_query_byte(UART_7, &bt_buffer);
+        bt_rx_flag = true;
         USART_ClearITPendingBit(UART7, USART_IT_RXNE);
     }
 }
 void UART8_IRQHandler(void)
 {
     if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
-        uart_query_byte(UART_8, &bt_buffer);
-        bt_rx_flag = true;
+
         USART_ClearITPendingBit(UART8, USART_IT_RXNE);
     }
 }
diff --git a/app/jj_blueteeth.c b/app/jj_blueteeth.c
index 54aa0df..778201c 100644
--- a/app/jj_blueteeth.c
+++ b/app/jj_blueteeth.c
@@ -24,7 +24,7 @@ void jj_bt_init()
 {
     uart_init(BT_UART_INDEX, BT_UART_BAUDRATE, BT_UART_TX_PIN, BT_UART_RX_PIN);
     //   uart_tx_interrupt(UART_2, 1);
-    uart_rx_interrupt(UART_8, ENABLE);
+    uart_rx_interrupt(BT_UART_INDEX, ENABLE);
 }
 /**
  *@brief 蓝牙中断回调函数
@@ -70,8 +70,8 @@ void bt_printf(const char *format, ...)
     va_end(args);
 
     for (uint16_t i = 0; i < strlen(sbuf); i++) {
-        while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_8], USART_FLAG_TC) == RESET)
+        while (USART_GetFlagStatus((USART_TypeDef *)uart_index[UART_7], USART_FLAG_TC) == RESET)
             ;
-        USART_SendData((USART_TypeDef *)uart_index[UART_8], sbuf[i]);
+        USART_SendData((USART_TypeDef *)uart_index[UART_7], sbuf[i]);
     }
 }
\ No newline at end of file
diff --git a/app/jj_blueteeth.h b/app/jj_blueteeth.h
index 8715203..95b4816 100644
--- a/app/jj_blueteeth.h
+++ b/app/jj_blueteeth.h
@@ -4,10 +4,10 @@
 #include "stdio.h"
 #include "zf_driver_uart.h"
 
-#define BT_UART_INDEX UART_8
+#define BT_UART_INDEX UART_7
 #define BT_UART_BAUDRATE 115200
-#define BT_UART_TX_PIN  UART8_MAP0_TX_C4
-#define BT_UART_RX_PIN  UART8_MAP0_RX_C5
+#define BT_UART_TX_PIN  UART7_MAP1_TX_A6
+#define BT_UART_RX_PIN  UART7_MAP1_RX_A7
 
 extern bool bt_rx_flag;
 extern uint8_t bt_buffer; // 接收字符存入
diff --git a/app/jj_motion.c b/app/jj_motion.c
index ed31480..05782af 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -18,19 +18,19 @@ float ci_Ki0 = 0;
 float ci_Kd0 = 0;
 float out_ci;
 // 弯道后面风扇角度环
-float an_Kp0 = 40.0f;
+float an_Kp0 = 45.0f;
 float an_Ki0 = 0.0f;
 float an_Kd0 = 0.0f;
 // 直道后面风扇角度环
-float an_Kp1 = 42.0f;
+float an_Kp1 = 35.0f;
 float an_Ki1 = 0.0f;
 float an_Kd1 = 0.0f;
 // 圆环后面风扇角度环
-float yu_Kp0 = 60.0f;
+float yu_Kp0 = 51.0f;
 float yu_Ki0 = 0.0f;
 float yu_Kd0 = 0.0f;
 // 弯道侧面风扇角度环
-float cn_Kp1 = 300.0f;
+float cn_Kp1 = 400.0f;
 float cn_Ki1 = 0.f;
 float cn_Kd1 = 0.0f;
 // 直道侧面风扇角度环
@@ -46,15 +46,15 @@ float out_pos;
 float set_pos = 0.0f;
 float out_cal;
 // 弯道角速度环
-float gy_Kp0 = 4.50f;
+float gy_Kp0 = 4.80f;
 float gy_Ki0 = 0.0f;
 float gy_Kd0 = 0.0f;
 // 直道角速度环
-float gy_Kp1 = 3.2f;
+float gy_Kp1 = 6.0f;
 float gy_Ki1 = 0.0f;
 float gy_Kd1 = 0.0f;
 // 圆环角速度环
-float ygy_Kp0 = 4.0f;
+float ygy_Kp0 = 6.0f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
 // 当前和输入量
@@ -70,9 +70,9 @@ float in_speed;
 float out_speed;
 
 float set_speed;
-float set_speed0   = 800.0f;
+float set_speed0   = 900.0f;
 float set_speed1   = 1100.0f;
-float set_speed2   = 810.f;
+float set_speed2   = 830.f;
 float set_speed3   = 1000.f;
 int cnt1           = 0;
 int cnt2           = 0;
@@ -89,7 +89,7 @@ int32_t pwm_duty_rs;
 int32_t pwm_duty_lb;
 int32_t pwm_duty_rb;
 float qd_down = 0.0f;
-
+float last_gy=0.0f;
 /*
 0:无状态
 1:弯道
@@ -126,12 +126,13 @@ void sport_motion()
     imu660ra_get_acc();
     get_vol();
     in_gyro = imu660ra_gyro_z;
+    // last_gy=in_gyro;
     // 抖动停车
-    if (imu660ra_acc_z <= 600) {
+    // if (imu660ra_acc_z <= 300) {
 
-        bt_fly_flag = bt_run_flag = 0;
-        bt_printf("ting");
-    }
+    //     bt_fly_flag = bt_run_flag = 0;
+    //     bt_printf("ting");
+    // }
     // 斑马线停车
     if (1 == in_stop) {
         stop_flag = 1;
@@ -266,7 +267,7 @@ void sport_pid_init()
     PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_angle_pid, 20);
-    PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
+    PID_SetOutputLimits(&far_angle_pid, -4000.0f, 7000.0f);
     // 直道侧面位置环
     PID(&str_angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&str_angle_pid, _PID_MODE_AUTOMATIC);
@@ -286,11 +287,11 @@ void sport_pid_init()
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -7000.0f, 7000.0f);
 
     /* 速度控制 */
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&speed_pid, 20);
-    PID_SetOutputLimits(&speed_pid, -0.0f, 6000.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 7000.0f);
 }